公开(公告)号：US20110257785A1

公开(公告)日：2011-10-20

申请号：US13045763

申请日：2011-03-11

申请人： Ryo NIHEI ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

发明人： Ryo NIHEI ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

IPC分类号： B25J13/08

CPC分类号： B25J9/1674 ,  G05B2219/37388 ,  G05B2219/40549 ,  G05B2219/42329

摘要： A robot system including a robot arm driven by a servo motor; and a robot controller controlling an operation of the robot arm. The robot system further comprises a first detection section detecting a rotation amount of the servo motor; a second detection section attached to a tip portion of the robot arm, and detecting a velocity or acceleration of the tip portion of the robot arm; a computation section computing the velocity or acceleration of the tip portion of the robot arm based on values detected by the first detection section, and computing a deviation between this computed velocity or acceleration and the velocity or acceleration detected by the second detection section; and an emergency stop section for bringing the servo motor to an emergency stop when a magnitude of the deviation computed by the computation section is greater than a reference value.

摘要翻译： 一种机器人系统，包括由伺服电动机驱动的机器人臂; 以及控制机器人手臂的操作的机器人控制器。 机器人系统还包括检测伺服电动机的旋转量的第一检测部分; 第二检测部，其附接到所述机器人手臂的前端部，并且检测所述机器人手臂的前端部的速度或加速度; 计算部，基于由所述第一检测部检测出的值计算所述机器人手臂的前端部的速度或加速度，并计算所述计算出的速度或加速度与由所述第二检测部检测出的速度或加速度之间的偏差; 以及紧急停止部，用于当由所述计算部计算出的所述偏差的大小大于参考值时使所述伺服电动机进行紧急停止。

公开(公告)号：US07636113B2

公开(公告)日：2009-12-22

申请号：US10928163

申请日：2004-08-30

申请人： Tetsuaki Kato

发明人： Tetsuaki Kato

IPC分类号： H04N9/64 ,  H04N5/217

CPC分类号： H04N5/3655 ,  H04N5/2353 ,  H04N5/361 ,  H04N5/365

摘要： A noise reduction apparatus of a digital camera which uses an imaging device for imaging a photographic subject, carries out a specified number of dark exposure operations, to obtain the same specified number of dark output values for each picture element of the imaging device, in which the photographic subject is imaged, under the condition where the imaging device is shaded, after a normal exposure operation in which the photographic subject is imaged. The apparatus calculates a representative value for each dark exposure operation, based on the dark output values. The apparatus calculates a ratio based on the representative values. The apparatus calculates noise components caused by the dark current in each picture element of the imaging device in the normal exposure operation on the basis of the ratio. The apparatus reduces the noise components from respective output values of each picture element, produced in the normal exposure operation.

摘要翻译： 数字照相机的降噪装置，其使用成像装置对摄影对象成像，执行指定数量的暗曝光操作，以获得与成像装置的每个像素相同的指定数量的暗输出值，其中 在拍摄对象被成像的正常曝光操作之后，在成像装置被遮蔽的条件下成像照相对象。 该设备基于暗输出值计算每个暗曝光操作的代表值。 该装置基于代表值计算比率。 该装置基于该比例，在正常曝光操作中计算由成像装置的每个像素中的暗电流引起的噪声分量。 该装置从正常曝光操作中产生的每个像素的各个输出值减少噪声分量。

公开(公告)号：US20090091286A1

公开(公告)日：2009-04-09

申请号：US12230853

申请日：2008-09-05

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

IPC分类号： G05B19/4061

CPC分类号： B25J9/1666 ,  B25J9/1676 ,  G05B2219/39098 ,  G05B2219/40478

摘要： A robot control unit (30) comprises: a setting means (40) for setting operating ranges of each shaft and a working tool of the robot (20); a storage means (33) for storing an inertial running distance of the robot decided by at least one of the operating speed of the robot and the weight of the working tool; and an arriving range calculation means (36) for calculating an arriving range to which the robot arrives according to the operating range, which has been set by the setting means, and the inertial running distance stored by the storage means. Due to the foregoing, while consideration is being given to the inertial running distance of a robot, the arriving range of the robot is made. Further, a display means (41) for displaying the arriving range may be provided. In the case where each shaft of the robot and the working tool deviate from the operating range, a stopping means (34) for stopping the robot may be provided.

摘要翻译： 机器人控制单元（30）包括：设置机构（20）的各轴的工作范围和工作工具的设定装置（40）。 存储装置，用于存储由所述机器人的操作速度和所述作业工具的重量中的至少一个所决定的所述机器人的惯性行驶距离; 以及到达范围计算装置（36），用于根据由设置装置设置的操作范围和存储装置存储的惯性行驶距离来计算机器人到达的到达范围。 由于上述原因，在考虑机器人的惯性行驶距离的情况下，进行机器人的到达范围。 此外，可以提供用于显示到达范围的显示装置（41）。 在机器人和工作工具的各轴偏离工作范围的情况下，可以设置用于停止机器人的停止装置（34）。

公开(公告)号：US07508428B2

公开(公告)日：2009-03-24

申请号：US10928187

申请日：2004-08-30

申请人： Tetsuaki Kato

发明人： Tetsuaki Kato

IPC分类号： H04N5/217 ,  H04N3/14 ,  H04N5/335 ,  H04N5/238

CPC分类号： H04N5/2353

摘要： A noise restraint apparatus for a digital camera which has an imaging device for imaging a photographic subject, comprises an outputting processor and a controlling processor. The outputting processor outputs a vertical synchronous signal to the imaging device. The controlling processor controls an output cycle with which the outputting processor outputs the vertical synchronous signal. The output cycle has a first cycle, for a first period which is the period before an exposure operation, in which a photographic subject is imaged by the imaging device, and a second cycle which is longer than the first cycle, for a second period, while the exposure operation is performed.

摘要翻译： 一种用于数字照相机的噪声抑制装置，其具有用于对摄影对象成像的成像装置，包括输出处理器和控制处理器。 输出处理器向成像装置输出垂直同步信号。 控制处理器控制输出处理器输出垂直同步信号的输出周期。 输出周期具有第一周期，第一周期是第一周期，其是曝光操作之前的周期，其中拍摄对象由成像装置成像，以及在第二周期内比第一周期长的第二周期， 同时执行曝光操作。

公开(公告)号：US20080297092A1

公开(公告)日：2008-12-04

申请号：US12127347

申请日：2008-05-27

申请人： Ryo NIHEI ,  Tetsuaki Kato ,  Teruki Kuroshita

发明人： Ryo NIHEI ,  Tetsuaki Kato ,  Teruki Kuroshita

IPC分类号： G05B19/404

CPC分类号： B25J9/1633 ,  B25J9/1638

摘要： A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means. Accordingly, the position of the robot is accurately corrected without being affected by the deflection of the joint axis.

摘要翻译： 一种用于加工机器人（1）的控制装置（10），其适于通过与所述工件附接到所述加工机器人的工具（18）的执行器（19）接触来加工工件（20），所述控制装置（10）包括：检测装置 15），用于检测在所述工具的所述效应器和所述工件之间作用的力或力矩; 转换装置（22），用于将由检测装置检测到的力或力矩转换成作用在加工机器人的关节轴线上的力或力矩; 用于根据作用在加工机器人的关节轴线上并从转换装置得到的力或力矩来计算在加工机器人的接合轴线处发生的偏转的偏转计算装置; 以及校正装置，用于校正加工机器人的关节轴的位置命令或速度指令中的至少一个，以补偿由偏转计算装置计算出的偏差。 因此，机器人的位置被精确地校正，而不受接合轴的偏转的影响。

公开(公告)号：US20070045383A1

公开(公告)日：2007-03-01

申请号：US11458957

申请日：2006-07-20

申请人： Tetsuaki Kato ,  Soichi Arita ,  Kouta Mogami

发明人： Tetsuaki Kato ,  Soichi Arita ,  Kouta Mogami

IPC分类号： A47J36/02

CPC分类号： B23K11/255 ,  B23K11/314

摘要： There is provided a servo controller for a spot welding gun for controlling a pressurizing force, applied by a pair of mutually-opposing gun chips, on an object to be welded, including at least one movable gun chip, which is held between the pair of gun chips, by causing a drive source of the movable gun chip to drive the movable gun chip in a direction in order to pressurize the object to be welded. The servo controller includes a feedback control section for calculating a difference value (Fc−F) between an obtained pressurizing-force value F and a required pressurizing-force value Fc, and a feedforward control section for adding a correcting command value, obtained from a position command value or a speed command value for the drive source, to the difference value (Fc−F).

摘要翻译： 提供了一种用于点焊枪的伺服控制器，用于控制由一对相互相对的枪芯施加在被焊接物体上的加压力，该加压力包括至少一个可动枪芯片，该至少一个可动枪芯片保持在一对 通过使可动枪芯片的驱动源沿一个方向驱动可动枪芯片，以加压待焊接的物体，从而使枪片切割。 伺服控制器包括反馈控制部分，用于计算所获得的加压力值F和所需的加压力值F C之间的差值（F < 以及前馈控制部分，用于将从驱动源的位置命令值或速度指令值获得的校正命令值添加到差值（F SUB C -F）。

公开(公告)号：US20060276934A1

公开(公告)日：2006-12-07

申请号：US11447034

申请日：2006-06-06

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00

CPC分类号： B25J9/1679 ,  B25J9/1656 ,  G05B2219/40584

摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.

摘要翻译： 根据用于单独命令工作单元的多个操作程序，使机器人使机器人执行包括数个工作单元的并行方式的多个工件的任务。 所述机器人控制器包括收集状态信息的信息收集部分，所述状态信息实时地示出所述机器人的环境的状态; 程序选择部，根据状态信息，从准备好对工件执行的操作程序，选择满足任务开始条件的第一可执行程序; 处理部分，用于执行第一可执行程序; 以及程序完成判断部，判断处理部是否已经完成了第一可执行程序的处理。 节目选择部根据状态信息，从准备执行的动作程序中选择满足任务开始条件的第二可执行程序，以满足节目完成判断部分的判断。

公开(公告)号：US20060184278A1

公开(公告)日：2006-08-17

申请号：US11237923

申请日：2005-09-29

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Yukinobu Tsuchida ,  Atsuo Nagayama ,  Masakazu Ichinose

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Yukinobu Tsuchida ,  Atsuo Nagayama ,  Masakazu Ichinose

IPC分类号： G06F19/00

CPC分类号： B25J9/1664

摘要： A robot movement control method, in which a robot is moved along a smooth path (10, 11) determined based on a teaching path defined to pass a designated starting point (TP4), at least one intermediate point (TP5, TP6) and a terminal point (TP7), is disclosed. The smooth path is determined so that the coincidence between the actual path for robot movement and the teaching path is assured near the starting point (TP4) or the intermediate point.

摘要翻译： 一种机器人运动控制方法，其中机器人沿着基于通过指定起始点（TP 4）的教导路径确定的平滑路径（10,11）移动，至少一个中间点（TP 5，TP 6 ）和终点（TP 7）。 确定平滑路径，使得在起始点（TP 4）或中间点附近确保机器人移动的实际路径与教导路径之间的一致性。

公开(公告)号：US07002095B2

公开(公告)日：2006-02-21

申请号：US10679318

申请日：2003-10-07

申请人： Tetsuaki Kato ,  Koichi Okanda ,  Soichi Arita

发明人： Tetsuaki Kato ,  Koichi Okanda ,  Soichi Arita

IPC分类号： B23K11/24

CPC分类号： B23K11/25 ,  B23K11/252 ,  B23K11/255 ,  B23K11/31 ,  B23K11/311 ,  B23K11/314

摘要： A spot welding system using a spot welding gun having a servomotor for driving welding tips capable of suppressing variation of pressing force due to influence of heat generated by welding current to obtain an uniform pressing force. A difference between the temperature T detected by a temperature sensor and an initial temperature T0 is multiplied by a coefficient A to obtain a pressing force compensation amount α. A pressing force d estimated by an observer is subtracted from the compensated command pressing force p′ and an obtained difference is multiplied by a constant K2 to obtain a torque command (current command) τ for driving the servomotor to press the objects by the welding tips. Since the commanded pressing force is compensated in accordance with the temperature, a constant and stable pressing force is produced without influence of the temperature variation.

摘要翻译： 一种使用具有用于驱动焊接头的伺服电动机的点焊枪的点焊系统，其能够抑制由于焊接电流产生的热量的影响而产生的压力变化，以获得均匀的按压力。 由温度传感器检测到的温度T与初始温度T 0之间的差乘以系数A以获得按压力补偿量α。 从补偿指令按压力p'中减去由观察者估计的按压力d，并且将获得的差乘以常数K 2，以获得用于驱动伺服电动机通过焊接来按压物体的扭矩指令（电流指令）τ 提示。 由于根据温度补偿了指令的按压力，所以在不影响温度变化的情况下产生恒定且稳定的按压力。

公开(公告)号：US06340875B1

公开(公告)日：2002-01-22

申请号：US09468641

申请日：1999-12-22

申请人： Atsushi Watanabe ,  Tetsuaki Kato

发明人： Atsushi Watanabe ,  Tetsuaki Kato

IPC分类号： G05B1942

CPC分类号： B25J9/163 ,  G05B19/19

摘要： A robot controller which controls a process controlled variable of an operational tool mounted on a robot in synchronism with the robot motion. The position of each axis of the robot is detected by a sensor such as a position detector. In a calculating section, motion variables such as position Pn, velocity vn and acceleration &agr;n of a tool center point (TCP) are detected from the respective positions of the robot axes. An ideal output (target value) of a sensor for detecting a controlled variable to be controlled in accordance with the motion state is determined in a calculating section. A sensor output is subtracted from the target value to determine a deviation. The deviation is multiplied by a proportional gain K to determine a manipulated variable. By using this manipulated variable, the process of an arc welding machine, sealing machine, or laser beam machine in which a tool is mounted on a distal end of a robot wrist is controlled. The target value is determined in accordance with the change of motion state of the robot, and feedback control is carried out so as to follow the target value so that uniform operation is achieved.

摘要翻译： 机器人控制器，其与机器人运动同步地控制安装在机器人上的操作工具的过程控制变量。 机器人的各轴的位置由诸如位置检测器的传感器检测。 在计算部分中，从机器人轴的相应位置检测诸如位置Pn，速度vn和工具中心点（TCP）的加速度相关的运动变量。 在计算部中确定用于检测根据运动状态来控制的受控变量的传感器的理想输出（目标值）。 从目标值中减去传感器输出以确定偏差。 该偏差乘以比例增益K以确定操纵变量。 通过使用该操作变量，控制将机器人手腕的远端安装有工具的电弧焊机，封口机或激光束机的工序。 目标值根据机器人的运动状态的变化来确定，并且进行反馈控制以便跟随目标值，从而实现均匀的操作。